Comparison of indoor robot localization techniques in the absence of GPS

被引：16

作者：

Vincent, Regis ^{[1
]}

Limketkai, Benson ^{[1
]}

Eriksen, Michael ^{[1
]}

机构：

[1] SRI Int, Menlo Pk, CA 94025 USA

来源：

DETECTION AND SENSING OF MINES, EXPLOSIVE OBJECTS, AND OBSCURED TARGETS XV | 2010年 / 7664卷

关键词：

robot; GPS; localization; SLAM;

D O I：

10.1117/12.849593

中图分类号：

TP7 [遥感技术];

学科分类号：

081102 ; 0816 ; 081602 ; 083002 ; 1404 ;

摘要：

When available, GPS is the quick and easy solution to localizing a robot. However, because it is often not available (e.g. indoors) or not reliable enough, other techniques, using laser range finders or cameras have been developed that offer better performance. For 2D localization, lLaser range finders are far more precise and easier to work with than cameras. We report here on the performance of several implementations of the main class of localization algorithms that use a laser, Simultaneous Localization And Mapping (SLAM) on the RAWSEEDS benchmark. SRI International's SLAM system has an RMS error in XY of 0.32m (0.22%). This is the best reported performance on this benchmark.

引用

页数：5

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